WO2019076337A1 - Agencement amélioré de sources de lumière et de détecteurs dans un système lidar - Google Patents

Agencement amélioré de sources de lumière et de détecteurs dans un système lidar Download PDF

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Publication number
WO2019076337A1
WO2019076337A1 PCT/CN2018/110802 CN2018110802W WO2019076337A1 WO 2019076337 A1 WO2019076337 A1 WO 2019076337A1 CN 2018110802 W CN2018110802 W CN 2018110802W WO 2019076337 A1 WO2019076337 A1 WO 2019076337A1
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WO
WIPO (PCT)
Prior art keywords
laser
lidar system
photon detectors
lidar
emitters
Prior art date
Application number
PCT/CN2018/110802
Other languages
English (en)
Inventor
Chunxin QIU
Letian LIU
Original Assignee
Suteng Innovation Technology Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201710978746.3A external-priority patent/CN107656258A/zh
Priority claimed from CN201711250321.7A external-priority patent/CN108414999A/zh
Application filed by Suteng Innovation Technology Co., Ltd. filed Critical Suteng Innovation Technology Co., Ltd.
Publication of WO2019076337A1 publication Critical patent/WO2019076337A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone

Definitions

  • the present disclosure relates generally to a Light Detection and Ranging (LiDAR) device, and more specifically to an improved arrangement of light sources and detectors in a LiDAR system.
  • LiDAR Light Detection and Ranging
  • LiDAR Light Detection and Ranging
  • a LiDAR device transmits a laser beam and receives a returned laser beam when it is reflected by a nearby object. By measuring the lapsed time between transmission and reception, the distance of a nearby object can be calculated. From the absence of returned laser beams, spaces that are free of obstacles can be mapped out. The shape of a nearby object, such as the contour and size of the object, can also be determined by comparing the transmitted laser beam with the returned laser beam, or by the absence thereof.
  • LiDAR devices used for autonomous driving vehicles are expected to monitor blind spot, recognize objects and pedestrians, map terrain, and avoid collision.
  • LiDAR devices currently available on the market are rotating scanners. They are generally configured to rotate in order to achieve the 360° field of view of the surroundings.
  • the vertical field of view that can be achieved by a LiDAR device is often small and limited.
  • rotating scanning LiDAR devices are bulky and expensive.
  • the present application discloses an improved LiDAR device that can achieve a large field of view, high resolution in image mapping, accurate distance measurement, reliable obstacle detection, and affordable pricing.
  • a Light Detection and Ranging (LiDAR) system comprises a light source, a light detector, a mirror system and a control system.
  • the light source comprises a plurality of laser emitters. Each laser emitter is configured to generate a laser beam.
  • the light detector comprises a plurality of photon detectors.
  • the mirror system is configured to change the direction of outgoing laser beams to scan a target region.
  • the mirror system comprises an oscillating Micro Electro-Mechanical System (MEMS) mirror to produce.
  • the control system is configured to control the position of the MEMS mirror to steer an outgoing laser beam to the target region.
  • MEMS Micro Electro-Mechanical System
  • the light source comprises 2N+1 laser emitters.
  • the angle between the laser beams of any two adjacent laser emitters is the same. In one embodiment, the angle between the laser beams of any two adjacent laser emitters is not zero. In one embodiment, the plurality of laser emitters is in a same plane.
  • the light detector comprises an array of photon detectors.
  • the array of photon detectors is arranged to receive incoming laser beams, which are the outgoing laser beams reflected by objects in the target region.
  • the photon detectors are avalanche photon detectors.
  • the LiDAR system further comprises a first lens system and a second lens system.
  • the first lens system is placed in between the light source and the mirror system.
  • the second lens system is placed in front of the light detector.
  • the first lens system comprises one or more collimators, each configured to collimate a laser beam generated by a laser emitter of the light source.
  • the second lens system comprises one or more focusing devices, each configured to focusing an incoming laser beam onto a photon detector.
  • the light detector comprises 2N+1 photon detectors.
  • the angle between the central axis of any two adjacent photon detectors is the same. In one embodiment, the angle between the central axis of any two adjacent photon detectors is zero. In one embodiment, the plurality of photon detectors is in a same plane.
  • the plurality of photon detectors is divided into different groups, with each group of photon detectors comprising at least two photon detectors.
  • Each group of photon detectors is in the same plane and different groups of photon detectors are in different planes.
  • the central axis of any photon detector in one group and that of its adjacent photon detector in the same group form an angle that is not zero.
  • each laser emitter is paired with a photon detector.
  • the number of laser emitters and the number of photon detectors are the same.
  • the laser emitters and the photon detectors are not paired.
  • the number of laser emitters and the number of photon detectors are not the same.
  • Figs. 1a-1b are illustrations of two exemplary LiDAR systems in accordance to embodiments disclosed herein.
  • Fig. 2 is a block diagram illustrating an exemplary LiDAR system in accordance to an embodiment disclosed herein.
  • Fig. 3a –3d illustrates exemplary arrangements of laser emitters in the light source in accordance to embodiments disclosed herein.
  • Fig. 4 is a flowchart illustrating an exemplary control process implemented in a LiDAR control system.
  • Fig. 5 is a block diagram of an exemplary lens system for a LiDAR system in accordance to an embodiment disclosed herein.
  • Fig. 6 illustrates an exemplary setup in a LiDAR system for receiving incoming laser beams.
  • Figs. 7a –7c illustrate exemplary arrangements of photon detectors in the light detector in accordance to embodiments disclosed herein.
  • an exemplary LiDAR system 100 is shown to comprise a light source 102, a light detector system 104, a mirror system 106, lens systems 108 and 110, and a control system 112.
  • the light source 102 comprises a plurality of laser emitters, each emitting a laser beam directed at the mirror system 106.
  • a lens system 108 may be placed in the path of the laser beams before the mirror system 106.
  • the lens system 108 may comprise collimators that are used to collimate the laser beams from the laser emitters to ensure that the laser beams are focused and aligned before the laser beams reach the mirror system 106. In later sections of this disclosure and in Fig. 5, the lens systems 108 and 110 are discussed in more detail.
  • the mirror system 106 is configured to direct the laser beams coming from the light source 102 towards a desired target region.
  • a desired target region may be a region that needs to be scanned for objects or obstacles.
  • the laser beams after being reflected by the mirror system 106, form outgoing laser beams directed towards the target region for image recognition and obstacle detection, for instance, to detect objects, pedestrians, or obstacles.
  • the mirror system 106 comprises a MEMS system configured to oscillate to change the direction of the outgoing laser beams.
  • the mirror system 106 may comprise a Micro-Electro-Mechanical System (MEMS) mirror.
  • MEMS Micro-Electro-Mechanical System
  • the MEMS mirror is configured to change its orientation to reflect a laser beam towards a desired direction to form an outgoing laser beam.
  • the MEMS mirror may be controlled to continuously change its orientation.
  • the oscillating movement of the MEMS mirror may be described as a combination of rotation around an axis in the zenith direction and vibration around an axis perpendicular to the zenith axis.
  • the continuous oscillation of the MEMS mirror permits the outgoing laser beam to continuously scan a target region, for example, an area in the shape of square.
  • an outgoing laser beam may hit an object 105 located in the target region that reflects the outgoing laser beam back towards the mirror system 106.
  • a reflected outgoing laser beam becomes an incoming laser beam.
  • the incoming laser beam does not diverge from the outgoing laser beam by much and travels towards the mirror system 106 before being reflected and received by the light detector 104.
  • a lens system 110 is placed in between the mirror system 106 and the light detector 104.
  • the lens system 110 may comprise focusing devices that are configured to focus incoming laser beams onto respective light detectors.
  • the incoming laser beams are not re-directed by the mirror system 106 before being received by the light detector 104.
  • the incoming laser beams coming from the target region go through a lens system 110 before reaching the light detector 104.
  • the lens system 110 may include focusing devices that are configured to focus the incoming laser beams onto the light detector 104.
  • the mirror system may comprise one or more MEMS mirror that is configured to steer outgoing laser beams onto a target region.
  • multiple laser emitters share one MEMS mirror.
  • the MEMS mirror may be shared among the multiple laser emitters.
  • the movement of the MEMS mirror is controlled by the LiDAR control system 112.
  • Fig. 2 illustrates a block diagram of an exemplary LiDAR system 100.
  • the LiDAR control system 112 is configured to control the movement of the MEMS mirror, the emissions of the laser beams by the light source 102, and the reception of incoming laser beams by the light detector 104.
  • the lens system 108 and/or 110 are controlled by the LiDAR control system 112 for runtime adjustment.
  • the LiDAR control system 100 first determines a target area and then controls the multiple laser emitters to ensure the entire target area is scanned by the multiple laser beams.
  • the division scheme can vary from embodiment to embodiment.
  • a single laser emitter can cover a small area.
  • Fig. 3a illustrates a square area covered by a single laser emitter. The lines in the square show the track of the laser beam as it is being continuously directed by the mirror system 106.
  • multiple laser emitters are arranged so each laser emitter scans a square area shown in Fig. 3a and the total area covered by the LiDAR system is a sum of the small square areas scanned by single laser emitters. To avoid “blind spots, ” some overlapping of the scanned areas of two adjacent laser emitters may be necessary.
  • Fig. 3b shows how an array of laser emitters can cover a larger rectangular area.
  • multiple laser emitters are arranged in a straight line and the laser beams from the multiple laser emitters go through the lens system 108 and become collimated before reaching the MEMS mirror 106. After being reflected by the MEMS mirror 106, the multiple laser beams are steered towards the target region.
  • the outgoing laser beams also form a straight line 320 if the MEMS mirror 106 is a 1-dimensional MEMS mirror, as shown in Fig. 3b.
  • the outgoing laser beams may form a square if the mirror on a projection plane 340 in the target area.
  • the MEMS mirror 106 is a 2-dimensional MEMS mirror (not shown) .
  • the laser beams will be directed towards the left side of the target region, scanning the region to the left side of the vertical line 320.
  • the laser beams will be directed to a region above the projection plane 340. Because of the use of multiple laser emitters, the area monitored by the LiDAR system is enlarged. The total monitored area is the sum of the area scanned by individual laser beams.
  • Fig. 3c further illustrates how an oscillating mirror system 106 produces an enlarged sweeping region.
  • the mirror system 106 is in position 1'at time t 0 .
  • the laser beam r from the laser emitter 202 is reflected by the mirror system 106 and becomes the outgoing laser beam r'.
  • the mirror system 106 has changed its orientation to position 1′′. Because the light source 102 remains stationary, the laser beam r coming from the laser emitter 202 does not change direction. After being reflected by the mirror system 106 now at position 1′′, the laser beam r becomes the outgoing laser beam r′′. Therefore, from time t 0 to time t 1 , the laser beam from the laser emitter 202 sweeps the region between beam r'and beam r′′and can detect obstacles inside the region.
  • Fig. 3d further illustrates how the oscillating mirror system 106 increases the vertical FOV of the LiDAR system 100.
  • the light source 102 of the LiDAR system 100 is shown to comprise an array of three laser emitters 302, 304, and 306.
  • the mirror system 106 oscillates from position 2'to position 3'.
  • the light beam from the emitter 202 (shaded with dots) sweeps the dotted cone region.
  • the light beam from the emitter 204 (shaded with lines) sweeps the lined cone region.
  • the light beam from the light source 206 (shaded with grids) sweeps the gridded cone region.
  • the total region swept by the laser beams of the light source 102 i.e., the combined area of the three cone regions, has been substantially increased.
  • the movements of the oscillating mirror system 106 are controlled by the LiDAR control system 112.
  • the control system 112 first selects a target region to be scanned. By controlling the orientation of the mirror system, the outgoing laser beams can be focused on a target region selected by the LiDAR control system 112. In one embodiment, the region may be selected based on some preliminary scanning results. In another embodiment, the target region may be selected based on a pre-determined algorithm. After a target region has been selected, the control system 112 adjusts the mirror system 106 so that the outgoing laser beams are aimed at the target region. Accordingly, the light detector system 104 needs adjustment as well in order to receive incoming laser beams, which have changed direction due to the change of orientation of the mirror system 106. Fig.
  • control system 112 determines a target region for scanning (step 402) . After the target region has been determined, the control system 112 configures the mirror system to direct the outgoing laser beams at the target region (step 404) . The control system 112 then configures the light detector system 104 accordingly to properly receive incoming laser beams (step 406) .
  • the incoming laser beams are the reflected beams after the outgoing laser beams hit a surface of an object in the target region.
  • the light detector 104 is configured to receive the incoming laser beams.
  • a lens system 110 may be placed in the path of the incoming laser beams.
  • Fig 5. illustrates an exemplary lens system 500 that comprises collimators 502 and/or focusing devices 504.
  • the lens system may comprise only collimators 502, such as the lens system 108.
  • the lens system 108 may comprise multiple collimators, one for each outgoing laser beam.
  • the lens system 500 may comprise only focusing devices 504, such as the lens system 110.
  • the lens system 110 may comprise multiple focusing devices, one for each incoming laser beam.
  • the focusing device 504 may be used in conjunction with the collimator 502, or in lieu of the collimator 502.
  • the collimator 502 and the focusing device 504 can be used selectively.
  • the LiDAR control system 112 can be configured to selectively use one or more devices of the lens system 108/110.
  • the detector system 104 may comprise a plurality of light detectors, e.g., avalanche photo detectors.
  • each photon detector, 602, 604, 608, is paired with a laser emitter.
  • the number of photon detectors in the detector system 104 is the same as the number of light emitters in the light source 102.
  • Each photon detector is configured to receive the light beam from the corresponding light emitter.
  • the position and orientation of each photon detector are adjustable and can be adjusted according to the position and orientation of its corresponding light emitter.
  • the photon detectors are not paired with the emitters. The number of photon detectors does not necessarily match that of laser emitters.
  • the photon detectors in the light detector system 104 are arranged in a one-dimensional or two-dimensional array.
  • the laser emitters in the light source 102 are also arranged in a one-dimensional or two-dimensional array, similar to the photon detectors in the light detector system 104.
  • Figs 7a –7c show different arrangements of light detectors.
  • the differently-shaded cone regions in front of the detectors represent the scanning region covered by each detector.
  • the detector 7311 and the detector 7312 each cover the region 7321 and 7322 respectively.
  • the two regions 7321 and 7322 overlap to ensure there is no “blind spot. ”
  • Fig. 7b four photon detectors, 7411, 7412, 7413, and 7414, are divided into two groups.
  • the detectors 7411 and 7412 are in one group.
  • the central axis of these two detectors are in one plane.
  • the detectors 7413 and 7414 are in another group.
  • the central axis of these two detectors are in another plane.
  • the photon detectors are divided into different groups. Photon detectors in the same group are positioned in the same plane. Photon detectors in different groups are in different planes.
  • two adjacent photon detectors form an angle that is zero, as shown in Fig. 7b. In other embodiments, the angle may be non-zero.
  • the four photon detectors, 7411, 7412, 7413, and 7414 are in a different arrangement. Viewed from the side of the LiDAR system 100, the two detectors 7412 and 7414 are hidden behind the detectors 7411 and 7413.
  • the photon detectors are positioned symmetrically.
  • the central axis of any two adjacent photon detectors form an angle that is not zero.
  • the angle is the same between any two adjacent photon detectors.
  • the central axis of a photon detector forms an angle with a horizontal plane and the angle is the same for all photon detectors.
  • the angle can be zero in one embodiment or non-zero in another embodiment.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Selon l'invention, un système de détection et télémétrie par la lumière (LiDAR) comprend : une source de lumière (102) comprenant une pluralité d'émetteurs laser, chaque émetteur laser étant configuré pour générer un faisceau laser sortant; un détecteur de lumière (104) comprenant une pluralité de détecteurs de photons; un système de miroir (106) pour changer la direction de faisceaux laser sortants pour balayer une région cible; un système de commande (112) pour commander le système LiDAR.
PCT/CN2018/110802 2017-10-19 2018-10-18 Agencement amélioré de sources de lumière et de détecteurs dans un système lidar WO2019076337A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201710978746.3A CN107656258A (zh) 2017-10-19 2017-10-19 激光雷达及激光雷达控制方法
CN201710978746.3 2017-10-19
CN201711250321.7A CN108414999A (zh) 2017-12-01 2017-12-01 激光雷达及激光雷达控制方法
CN201711250321.7 2017-12-01

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JP7102797B2 (ja) * 2018-03-12 2022-07-20 株式会社リコー 光学装置、これを用いた距離計測装置、及び移動体
US11422237B2 (en) * 2019-01-15 2022-08-23 Seagate Technology Llc Pyramidal mirror laser scanning for lidar

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WO2017023106A1 (fr) * 2015-08-03 2017-02-09 엘지이노텍(주) Dispositif de détection de lumière et de télémétrie
US20170176575A1 (en) * 2015-12-18 2017-06-22 Gerard Dirk Smits Real time position sensing of objects
CN107209267A (zh) * 2014-12-19 2017-09-26 文达光电股份有限公司 基于mems的lidar
US20180081037A1 (en) * 2016-09-20 2018-03-22 Innoviz Technologies Ltd. Methods Circuits Assemblies Devices Systems and Functionally Associated Machine Executable Code for Controllably Steering an Optical Beam
WO2018055449A2 (fr) * 2016-09-20 2018-03-29 Innoviz Technologies Ltd. Systèmes et procédés lidar
US20180100928A1 (en) * 2016-10-09 2018-04-12 Innoviz Technologies Ltd. Methods circuits devices assemblies systems and functionally associated machine executable code for active scene scanning
WO2018127789A1 (fr) * 2017-01-03 2018-07-12 Innoviz Technologies Ltd. Systèmes lidar et procédés de détection et de classification d'objets

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US10473767B2 (en) * 2017-06-19 2019-11-12 Hesai Photonics Technology Co., Ltd. Lidar system and method
EP3688492B1 (fr) * 2017-09-26 2023-12-20 Innoviz Technologies Ltd. Systèmes et procédés de détection et localisation par la lumière

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Publication number Priority date Publication date Assignee Title
CN107209267A (zh) * 2014-12-19 2017-09-26 文达光电股份有限公司 基于mems的lidar
WO2017023106A1 (fr) * 2015-08-03 2017-02-09 엘지이노텍(주) Dispositif de détection de lumière et de télémétrie
US20170176575A1 (en) * 2015-12-18 2017-06-22 Gerard Dirk Smits Real time position sensing of objects
US20180081037A1 (en) * 2016-09-20 2018-03-22 Innoviz Technologies Ltd. Methods Circuits Assemblies Devices Systems and Functionally Associated Machine Executable Code for Controllably Steering an Optical Beam
WO2018055449A2 (fr) * 2016-09-20 2018-03-29 Innoviz Technologies Ltd. Systèmes et procédés lidar
US20180100928A1 (en) * 2016-10-09 2018-04-12 Innoviz Technologies Ltd. Methods circuits devices assemblies systems and functionally associated machine executable code for active scene scanning
WO2018127789A1 (fr) * 2017-01-03 2018-07-12 Innoviz Technologies Ltd. Systèmes lidar et procédés de détection et de classification d'objets

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